AC SERVO DRIVES Sigma

Transcription

YASKAWA
AC SERVO DRIVES
SERIES
STANDARD FUNCTION SERIES
TIFIE
D
EM
ER
A
GE
ST
MAN
Certified for
ISO9001 and
ISO14001
C
SERVOMOTOR TYPE: SGMAH– , SGMPH– , SGMGH– ,
SGMSH– , SGMDH–
SERVOPACK TYPE : SGDM–
Y
MENT S
QUALITY SYSTEM
JQA-0422 JQA-EM0202
JQA-EM0924
YASKAWA
LITERATURE NO. KAE-S800-31C
Aggressive Servo,
Your Machinery Performance Rea ches its Full Potential.
It’s a rapid, accurate pass.
He receives the ball, fakes out his
opponent, and instantaneously make
a strong, decisive shot!
C
N
T
E
N
T
S
Page
Features
Servomotor-SERVOPACK Combinations
Type Designation
Configurations
Servomotor Specifications
SERVOPACK Specifications
Connection Diagrams
Servomotor Dimensions
SERVOPCK Dimensions
Function Descriptions
Function Setup and Alarms
Options
A servo drive must be more
responsive, more quick, and more
accurate than world class athletes.
A servo drive is the key component
for your machine’s optimum
performance and productivity.
YASKAWA has been aggressively
challenging itself to enhance the
servo performance and functions.
Here comes the ∑-2 with a full
lineup, that is easy-to-use and
conforms to world standards.
World’s top performer
The ∑-2 will increase your production
and take your machine’s potential to
its highest performance ever.
Its outstanding rapid response is
achieved with a 1/3 settling time due
to 1/2 CPU operation time and
upgraded new control algorithms.
2
O
One on one
set up/maintenance
Flexible and reliable
availability
Easy to start up your sophisticated system
in a short time. Online auto-tuning
automatically adjusts servo drives in
accordance with your machine’s
characteristics.
Also, isolated main and control circuit
power supplies and an alarm traceback
function enable easy maintenance.
Full lineups ∑-2 models are available so
you can make the optimum system for your
needs. Motors with brake/gear/absolute
encoders, are also available.
Full conformance to international standards
assures your operation standards can be
maintained worldwide.
4
6
7
8
10
16
18
20
22
24
28
30
3
Features
High Performance
Shortened settling time
The upgraded control algorithms
have enhanced controls against
vibration, such as the model followup control and the vibration
suppression control. Position
settling time can be reduced to a
third of conventional models, even if
your machine is not rigid.
See P24 for supporting high
performance functions.
Position reference
Error pulse
Speed
feedback
10msec
±1 pulse
0
6msec Setting time
Kp=400S–1
High speed/highly accurate drives
5000r/min is the highest speed available (Types SGMAH/SGMPH/SGMSH).
High resolution serial encoder (16, 17 bits) has improved positioning accuracy. Also, the
d-q current vector control system has improved torque control accuracy (repeatability)
from ±5% to ±2%.
Smooth operation
Speed observer control to reduce motor speed ripple. Operation is smooth at low speed.
Easy Setup
Online auto-tuning
Speed
feedback
Speed reference
Automatically adjusts to machine
characteristics and sets servo gains.
No need for troublesome adjustment.
time(s)
0
Automatic motor
discrimination function
See P25 for supporting easy
setup functions.
SERVOPACK automatically
discriminates servomotor capacity
and type, and also automatically sets motor parameters.
1.0
0.5s
Online
auto-tuning
start point
Regenerative resistor connection terminals
Regenerative resistor can be connected easily due to standardization of regenerative
resistor connection terminals for external mounting.
4
Easy Maintenance
Isolated main and control circuit power supplies
The power supplies for the main and control circuits are isolated from each other for easy
maintenance. If an alarm occurs, only the main circuit can be shut down.
Parameter setting device built in
Direct parameter inputs from SERVOPACK.
Reduced wiring
See P25 for supporting easy
setup maintenance functions.
Adoption of the serial encoder reduces the number of wires to half.
Absolute encoder: 15 to 7 wires
Incremental encoder: 9 to 5 wires
Flexible
All-in-one design
Can be used for control of torque, speed, or position by merely switching the appropriate
parameters.
Support for wide range of motor specifications
See P26, 27 for supporting
flexible adjustments.
Full lineups of motors available.
100VAC: Single-phase, 0.03 to 0.2kW
200VAC: Single-phase, 0.03 to 0.4kW
Three-phase, 0.45 to 7.5kW
Including motors with brakes, reduction
gears, or absolute encoders.
Choose motors according to your
specifications.
Reliable
International standards
Full conformance to CE marking, UL and cUL.
Environmental resistance (Servomotor)
■Enhanced protective enclosure
Complies with IP55 standard (Type SGMAH)
■Enhanced vibration resistance
Safe for accelerations up to 5G (types SGMAH, SGMPH).
High harmonic countermeasures
Power supplies are designed for minimum harmonics. DC reactor connection terminal
provided.
5
Servomotor-SERVOPACK Combination
200V
Three-phase, 7.5kW
200V
Three-phase, 2.0kW
200V
Single-phase, 100W
SGMAH Series
SGMPH Series
SGMSH Series
SGMGH Series
SGMDH Series
SERVOPACK
Type SGDM-
Servomotor
Applications
Flat Series
SGMDH
Short L-length.
(2000min–1) Good for narrow.
space installation.
6
02ADA
–
400W
–
04ADA
–
750W
–
–
08ADA
100W
01BDA
01ADA
–
200W
02BDA
02ADA
–
400W
–
04ADA
–
750W
–
–
08ADA
1500W
–
–
15ADA
0.45kW
–
–
05ADA
0.85kW
–
–
10ADA
1.3kW
–
–
15ADA
1.8kW
–
–
20ADA
2.9kW
–
–
30ADA
4.4kW
–
–
50ADA
5.5kW
–
–
60ADA
7.5kW
–
–
75ADA
0.3kW
–
–
05ADA
0.6kW
–
–
08ADA
0.9kW
–
–
10ADA
1.2kW
–
–
15ADA
2.0kW
–
–
20ADA
3.0kW
–
–
30ADA
4.0kW
–
–
50ADA
5.5kW
–
–
60ADA
1.0kW
–
–
10ADA
1.5kW
–
–
15ADA
2.0kW
–
–
20ADA
3.0kW
–
–
30ADA
4.0kW
–
–
50ADA
5.0kW
–
–
50ADA
2.2kW
–
–
30ADA
3.2kW
–
–
50ADA
4.0kW
–
–
50ADA
Machine Tool Feeds
02BDA
Machine Tool Feeds
–
200W
Material Handling Equipment
01ADA
Food Processing Machines
01BDA
Material Handling Equipment
Large torque
required at
low inertia.
–
100W
Material Handling
Equipment
Super High
SGMSH
(3000min–1) Power Rate Series
–
A5ADA
Robots
Midium-Capacity
SGMGH
(1000min–1)
A3ADA
A5BDA
Robots
High speed
rotation required
without load.
A3BDA
50W
Food Processing Machines
High Speed
SGMGH
(1500min–1) Feed Series
30W
Food Processing
Machines
Short L-length.
Good for narrow
space installation.
Threephase
PCB Drilling Machines
SGMPH
(3000min–1)
Cube Type Series
Singlephase
Chip Mounters
Large torque
required at low
inertia.
Singlephase
Transfer Machine
Small-capacity
Super High Power
SGMAH
(3000min–1) Rate Series
Capacity
Chip Mounters
Outlines
PCB Drilling Machines
200V
100V
Series
Type Designation
Servomotor
SGMPH - 01 A A A 2 S
∑-2 Servomotor Series
SGMAH: Super High Power Rate Series
SGMPH: Cube Type Series
SGMGH: High-speed Feed Series
SGMSH: Super High Power Rate Series
SGMDH: Flat Series
Brake, Oil Seal Specifications
1
S
B
C
D
E
Capacity (kW)
Code
SGMAH
3000
min–1
A3
A5
01
02
03
04
05
06
08
09
10
12
13
15
20
22
30
32
40
44
50
55
60
75
SGMGH
1500
1000
min–1
min–1
SGMPH
3000
min–1
0.03
0.05
0.1
0.2
0.1
0.2
0.4
0.4
SGMSH
3000
min–1
SGMDH
2000
min–1
Shaft End Specifications
Code
2
3
4
5
6
8
0.3
0.45
0.6
0.75
No Brake, No Oil Seal
Oil Seal
90VDC Brake
24VDC Brake
Oil Seal, +90VDC Brake
Oil Seal, +24VDC Brake
SGMAH SGMPH SGMGH SGMSH SGMDH
Specifications
Straight, No key
Taper 1/10, Parallel key
Straight, Key
Taper 1/10, Woodruff key
Straight, Key, Tap
Straight, Tap
: Standard
0.75
0.85
0.9
Design Procedure
A: SGMAH
SGMPH
SGMGH (1500min–1)
SGMSH
SGMDH
B: SGMGH (1000min–1)
C: SGMGH (1500min–1) High Precision Machinery
D: SGMGH (1000min–1) High Precision Machinery
E: SGMPH (IP67 water-proof specifications)
1.0
1.2
1.3
1.5
1.8
2.0
1.5
2.0
2.9
3.0
3.0
4.0
4.0
2.2
3.2
4.0
4.4
5.0
5.5
: Option
5.5
Serial Encoder Specifications
7.5
Voltage
A: 200 V
B: 100 V
Code
Encoder
1
2
A
B
C
16-bit Absolute
17-bit Absolute
13-bit Incremental
16-bit Incremental
17-bit Incremental
Series
SGMAH SGMPH SGMGH SGMSH SGMDH
: Standard
: Option
SERVOPACK
SGDM - 04 A D A
∑-2 SGDM SERVOPACK
Capacity
A3
A5
01
02
04
05
08
30 W
50 W
100 W
200 W
400 W
500 W
750 W
10
15
20
30
50
60
75
1.0 kW
1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
Design Procedure
Model
D: Speed, Torque, Position
Source Voltage
A: 200V (Single-/three-phase)
B: 100V (Single-phase)
7
Configurations
Single-phase
30 to 400W (200VAC)
30 to 200W (100VAC)
Power Supply
Single-phase, 200VAC
Single-phase, 100VAC
Molded-case Circuit
Breaker (MCCB)
Protects the power
line by shutting
the circuit OFF
when overcurrent
is detected.
Digital Operator
Personal Computer
(Type JUSP-OP02A-2)
1m cable is attached.
Molded-case
Circuit Breaker
Cable for connecting to
SERVOPACK provided.
Host Controller
Connect the SGDH SERVOPACK to a
YASKAWA host controller or one made by
other vendors. (Analog input, pulse train input available.)
Noise
Filter
Noise Filter
Used to eliminate external noise
from the power line.
MP920
Magnetic
Contactor
Magnetic Contactor
Type HI-15E5 (30A)
Turns the servo
ON and OFF.
Install a surge
suppressor on the
magnetic contactor.
Magnetic
Contactor
Brake
Power
Supply
Brake Power Supply*
Type LPSE-2H01(200V input)
Type LPDE-1H01(100V input)
Used for SGM
with a brake.
Servomotor
SGDM
SERVOPACK
Type SGDM-A3=DA to -04=DA
*: See P30 for details.
Required for Servomotor
with a brake.
∑-2 Servomotor
(30 to 400W)
8
Configurations
Three-phase
0.5 to 7.5kW (200 VAC)
Power Supply
Three-phase, 200VAC
R S T
Molded-case Circuit
Breaker (MCCB)
Digital Operator
Personal Computer
(Type JUSP-OP02A-2)
Protects the power
line by shutting
the circuit OFF
when overcurrent
is detected.
1m cable is attached.
Molded-case
Circuit Breaker
Cable for connecting to
SERVOPACK provided.
Host Controller
Connect the SGDH SERVOPACK to a
YASKAWA host controller or one made by
other vendors. (Analog input, pulse train input available.)
Noise Filter
Used to eliminate external noise
from the power line.
Noise
Filter
Magnetic Contactor
HI Series
MP920
Magnetic
Contactor
Turns the servo
ON and OFF.
Install a surge
suppressor on the
magnetic contactor.
SGDM SERVOPACK
Magnetic
Contactor
Type SGDM-05ADA to -75ADA *2
L1
L2
L3
Brake Power Supply*1
Type LPSE-2H01 (200V input)
Used for SGM
with a brake.
Servomotor
Brake
Power
Supply
L1C
L2C
B1 B2
Regenerative
Resistor (option)
U
V
W
Regenerative Resistor
For insufficient built-in regenerative resistor capacity,
disconnect B2-B3 and connect the external resistor
with B1-B2.
∑-2 Servomotor
(0.5 to 7.5kW)
*1. See P30 for details.
*2. The external terminals are different
in accordance with SERVOPACK
type.
9
Servomotor Specifications
SGMAH Series
: Ratings and Specifications
Applied Voltage
Servomotor Type SGMAHRated Output
W
Rated Torque
N •m
Instantaneous
N •m
Peak Torque
min–1
Rated Rotation Speed
min–1
Max. Rotation Speed
A3A
30
0.0955
A5A
50
0.159
200VAC
02A
01A
200
100
0.637
0.318
04A
400
1.27
0.286
0.477
0.955
1.91
3.82
08A
750
2.39
A3B
30
0.0955
100VAC
01B
A5B
100
50
0.318
0.159
02B
200
0.637
7.16
0.286
0.477
0.955
1.91
0.672
0.0166
0.0220
0.0364
0.106
3000
5000
Moment of Inertia (JM)
kg • m2104
0.0166
Allowable Load
Moment of Inertia (JL)
Rated Power Rate
as much as the
Moment of Inertia
kW/s
Standard
Option
30 times
20 times
or less
or less
5.49
84.8
93.7
38.2
27.8
11.5
5.49
Incremental Encoder (13 bits: 2048P/R)
Incremental Encoder (16 bits: 16384P/R), Absolute Encoder (16 bits: 16384P/R)
Continuous
Class B
0 to 40°C
20 to 80% (non-condensing)
15µm or below
Totally-enclosed, self-cooled, IP55 (excluding shaft opening)
Vibration acceleration 49m/s2 (5G)
Flange-mounted
Basic Specifications
Applicable Encoder
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting
0.0364
0.0220
0.173
0.106
30 times
or less
27.8
11.5
38.2
: Torque-Speed Characteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone)
SGMAH-A3A
SGMAH-A5A
SGMAH-02A
5000
5000
5000
4000
4000
4000
4000
3000
3000
3000
SPEED
(min–1)
A
SPEED
(min–1)
B
A
A
2000
2000
1000
1000
1000
0
0
0
0.1
0.2
0.3
0.4
0
0.15
TORQUE (N · m)
0.3
3000
SPEED
(min–1)
B
2000
0
0.45
0.6
SPEED
(min–1)
B
A
1000
0
0.25
0.5
0.75
0
1
5000
4000
4000
4000
4000
3000
A
SPEED
(min–1)
B
A
SPEED
(min–1)
B
A
2000
2000
2000
2000
1000
1000
1000
1000
0
0
1
3
2
0
4
0
2
SGMAH-01B
0
8
5000
4000
4000
3000
3000
SPEED
(min–1)
A
SPEED
(min–1)
B
2000
A
B
2000
1000
1000
0
0.25
0.5
0.75
TORQUE (N · m)
1
0
0
0.5
1
1.5
TORQUE (N · m)
0
0.1
0.2
0.3
TORQUE (N · m)
SGMAH-02B
5000
0
6
4
TORQUE (N · m)
TORQUE (N · m)
2
1.5
2
3000
3000
SPEED
(min–1)
B
1
SGMAH-A5B
SGMAH-A3B
SGMAH-08A
5000
A
0.5
TORQUE (N · m)
5000
3000
0
TORQUE (N · m)
5000
SPEED
(min–1)
B
2000
TORQUE (N · m)
SGMAH-04A
10
SGMAH-01A
5000
0.4
0
0
B
0.15
0.3
0.45
TORQUE (N · m)
0.6
Specifications
SGMAH / SGMPH
Series
SGMPH Series
Applied Voltage
Servomotor Type SGMPHRated Output
W
N •m
Rated Torque
Instantaneous
N •m
Peak Torque
min–1
min–1
Max. Rotation Speed
kg • m2104
Allowable Load
Moment of Inertia (JL)
Rated Power Rate
as much as the
Moment of Inertia
kW/s
Standard
Option
02A
200
0.637
200VAC
04A
400
1.27
08A
750
2.39
15A
1500
4.77
01B
100
0.318
100VAC
02B
200
0.637
0.955
1.91
3.82
7.16
14.3
0.955
1.91
3000
5000
Moment of Inertia (JM)
Applicable Encoder
01A
100
0.318
0.0491
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Mounting
0.193
0.331
4.02
2.10
25 times
15 times
7 times
5 times
or less
or less
or less
or less
56.7
20.6
21.0
49.0
27.1
Incremental Encoder (13 bits: 2048P/R)
Incremental Encoder (16 bits: 16384P/R), Absolute Encoder (16 bits: 16384P/R)
Continuous
Class B
0 to 40°C
15µm or below
Vibration acceleration 49m/s2 (5G)
Flange-mounted
0.0491
0.193
25 times
or less
20.6
12 times
or less
21.0
SGMPH-01A
SGMPH-02A
SGMPH-04A
5000
5000
5000
4000
4000
4000
3000
3000
SPEED
(min–1)
A
3000
SPEED
(min–1)
B
A
SPEED
(min–1)
B
A
2000
2000
2000
1000
1000
1000
0
0
0.25
0.5
0.75
0
1
0
0.5
TORQUE (N · m)
1
1.5
0
2
0
SGMPH-08A
5000
4000
4000
4000
A
SPEED
(min–1)
B
A
2000
2000
2000
1000
1000
1000
0
0
2
4
6
8
TORQUE (N · m)
0
4
3000
3000
SPEED
(min–1)
B
3
SGMPH-01B
SGMPH-15A
3000
2
TORQUE (N · m)
5000
A
1
TORQUE (N · m)
5000
SPEED
(min–1)
B
0
4
8
12
TORQUE (N · m)
16
0
0
B
0.25
0.5
0.75
1
TORQUE (N · m)
SGMPH-02B
5000
4000
3000
SPEED
(min–1)
A
B
2000
1000
0
0
0.5
1
1.5
2
TORQUE (N · m)
11
SGMGH Series (1500min–1)
44A=A
4.4
28.4
71.1
55A=A
5.5
35.0
87.6
75A=A
7.5
48.0
119
67.5
89.0
125
120
137
184
Applied Voltage
200VAC
Servomotor Type SGMGH05A=A
09A=A
13A=A
20A=A
30A=A
kW
0.45
0.85
1.3
1.8
2.9
Rated Output
N •m
2.84
5.39
8.34
11.5
18.6
Rated Torque
Instantaneous Peak Torque
N •m
8.92
13.8
23.3
28.7
45.1
min–1
1500
–1
min
Max. Rotation Speed
3000
kg • m2104
Moment of Inertia (J)
13.9
20.5
31.7
46.0
7.24
as much as the Moment of Inertia
5 times or less
Allowable Load Moment of Inertia
20.9
33.8
41.5
75.3
11.2
kW/s
Rated Power Rate
Standard
Incremental Encoder (17 bits: 16384P/R*)
Applicable Encoder
Option
Absolute Encoder (17 bits/20 bits: 16384P/R*)
Continuous
Time Rating
Class F
Insulation Class
0 to 40°C
Ambient Temperature
Ambient Humidity
15µm or below
Vibration Class
Enclosure
Vibration acceleration 24.5m/s2 (2.5G)
Flange-mounted
Mounting
* : For 17-bit and 20-bit encoders (without divider), pulses output from SERVOPACK are also 16384 P/R.
SGMGH-05A=A
SGMGH-09A=A
3000
2000
3000
2000
SPEED
(min–1)
A
2000
SPEED
(min–1)
B
1000
0
A
B
2
4
6
8
0
10
0
5
15
0
20
B
30
A
0
40
SPEED
(min–1)
B
0
10
20
30
40
50
TORQUE (N · m)
SGMGH-55A=A
SGMGH-75A=A
2000
2000
A
SPEED
(min–1)
B
1000
A
B
1000
0
20
40
60
TORQUE (N · m)
80
100
0
B
0
50
100
TORQUE (N · m)
0
0
20
40
60
TORQUE (N · m)
3000
SPEED
(min–1)
A
1000
TORQUE (N · m)
3000
30
SGMGH-44A=A
1000
20
20
2000
SPEED
(min–1)
1000
10
10
3000
2000
0
0
TORQUE (N · m)
3000
2000
12
10
SGMGH-30A=A
SGMGH-20A=A
A
B
TORQUE (N · m)
3000
SPEED
(min–1)
A
1000
TORQUE (N · m)
0
SPEED
(min–1)
1000
0
0
SGMGH-13A=A
3000
150
80
Specifications
SGMGH Series
SGMGH Series (1000min–1)
30A=B
3.0
28.4
63.7
40A=B
4.0
38.2
107
55A=B
5.5
52.6
136.9
67.5
89.0
125
120
164
221
Applied Voltage
200VAC
Servomotor Type SGMGH03A=B
06A=B
09A=B
12A=B
20A=B
kW
0.3
0.6
0.9
1.2
2.0
Rated Output
N •m
2.84
5.68
8.62
11.5
19.1
Rated Torque
N •m
7.17
14.1
19.3
28.0
44.0
min–1
1000
–1
min
Max. Rotation Speed
2000
kg • m2104
13.9
20.5
31.7
46.0
7.24
5 times or less
23.2
36.3
41.5
79.4
11.2
kW/s
Rated Power Rate
Standard
Applicable Encoder
Option
Continuous
Time Rating
Class F
Insulation Class
0 to 40°C
Ambient Temperature
Ambient Humidity
15µm or below
Vibration Class
Enclosure
Flange-mounted
Mounting
SGMGH-03A=B
SGMGH-06A=B
SGMGH-09A=B
2000
2000
2000
1500
1500
1500
SPEED
1000
(min–1)
SPEED
1000
(min–1)
A
500
0
SPEED
1000
(min–1)
A
B
B
A
500
0
2
4
6
8
0
0
5
TORQUE (N · m)
10
15
0
0
SGMGH-12A=B
SGMGH-20A=B
1500
1500
1500
A
A
10
20
30
0
B
500
0
0
10
TORQUE (N · m)
20
30
40
50
SGMGH-40A=B
0
20
40
60
80
TORQUE (N · m)
TORQUE (N · m)
SGMGH-55A=B
2000
2000
1500
1500
SPEED
1000
(min–1)
SPEED
1000
(min–1)
A
B
A
500
0
B
500
0
20
SPEED
1000
(min–1)
SPEED
1000
(min–1)
B
500
15
SGMGH-30A=B
2000
SPEED
1000
(min–1)
10
TORQUE (N · m)
2000
0
5
TORQUE (N · m)
2000
A
B
500
B
500
0
50
100
TORQUE (N · m)
150
0
0
50
100
150
TORQUE (N · m)
13
SGMSH Series
40A=A
4.0
12.6
37.8
50A=A
5.0
15.8
47.6
9.60
12.3
166
202
Applied Voltage
200VAC
Servomotor Type SGMSH10A=A
15A=A
20A=A
30A=A
kW
1.0
1.5
2.0
3.0
Rated Output
N •m
3.18
4.90
6.36
9.80
Rated Torque
N •m
9.54
14.7
19.1
29.4
min–1
3000
–1
min
Max. Rotation Speed
5000
kg • m2104
2.47
3.19
7.00
1.74
5 times or less
97.2
127
137
57.9
kW/s
Rated Power Rate
Standard
Applicable Encoder
Option
Continuous
Time Rating
Class F
Insulation Class
0 to 40°C
Ambient Temperature
Ambient Humidity
15µm or below
Vibration Class
Enclosure
Flange-mounted
Mounting
SGMSH-10A=A
SGMSH-15A=A
5000
5000
4000
4000
4000
3000
3000
SPEED
(min–1)
3000
SPEED
(min–1)
2000
2000
B
A
1000
0
SPEED
(min–1)
2000
A
B
A
1000
0
2
4
6
8
0
10
0
5
10
0
15
5000
4000
4000
4000
3000
3000
SPEED
(min–1)
2000
2000
A
A
B
1000
10
20
TORQUE (N · m)
30
20
SPEED
(min–1)
B
1000
15
3000
SPEED
(min–1)
2000
10
SGMSH-50A=A
5000
0
5
TORQUE (N · m)
SGMSH-40A=A
SGMSH-30A=A
0
0
TORQUE (N · m)
5000
A
B
1000
TORQUE (N · m)
14
SGMSH-20A=A
5000
0
B
1000
0
10
20
30
TORQUE (N · m)
40
0
0
10
20
30
TORQUE (N · m)
40
50
Specifications
SGMSH/SGMDH
Series
SGMDH Series
Applied Voltage
200VAC
Servomotor Type SGMDH22A=A
32A=A
kW
2.2
3.2
Rated Output
N •m
10.5
15.3
Rated Torque
N •m
36.7
53.5
min–1
2000
–1
min
Max. Rotation Speed
3000
kg • m2104
74.2
56.6
5 times or less
31.5
19.5
kW/s
Rated Power Rate
Standard
Applicable Encoder
Option
Absolute Encoder (17 bits: 16384P/R*)
Continuous
Time Rating
Class F
Insulation Class
0 to 40°C
Ambient Temperature
Ambient Humidity
15µm or below
Vibration Class
Enclosure
Flange-mounted
Mounting
* : For 17-bit encoder (without divider), pulses output from SERVOPACK are also 16384 P/R.
40A=A
4.0
19.1
66.9
91.8
39.7
SGMDH-22A=A
SGMDH-32A=A
3000
2000
SPEED
(min–1)
A
0
3000
2000
SPEED
(min–1)
B
1000
0
SGMGH-40A=A
3000
2000
A
SPEED
(min–1)
B
1000
10
20
30
TORQUE (N · m)
40
0
0
A
B
1000
20
40
TORQUE (N · m)
60
0
0
20
40
60
80
TORQUE (N · m)
15
SERVOPACK Specifications
Characteristics
:Single-phase
SERVOPACK Type
SGDM-
A3ADA
A5ADA
01ADA
02ADA
04ADA
A3BDA
A5BDA
01BDA
02BDA
SGMAH-
A3A
A5A
01A
02A
04A
A3B
A5B
01B
02B
SGMPH-
–
–
01A
02A
04A
–
–
01B
02B
kW
0.03
0.05
0.1
0.2
0.4
0.03
0.05
0.1
0.2
Continuous Output Current
A rms
0.44
0.64
0.91
2.1
2.8
–
–
–
–
Max. Output Current
A rms
1.3
2.0
2.8
6.5
8.5
–
–
–
–
A rms
–
–
–
–
–
0.66
0.95
2.4
3.0
Max. Output Current
A rms
–
–
–
–
–
2.0
2.9
7.2
9.0
Applicable
Servomotor
Max.Applicable Motor Capacity
200V
100V
Input Power
Supply
Main Circuit
Single-phase 200 to 230VAC 10 to 15% (50/60Hz)
Control Circuit
Control Method
Single-phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback
Serial encoder (incremental/absolute value)
Base mounted (Rack mount is also available)
Configuration
Approx. Mass
0.8
kg
1.1
0.8
1.1
:Three-phase
SERVOPACK Type
Applicable
Servomotor
SGDM-
05ADA
08ADA
10ADA
15ADA
20ADA
30ADA
50ADA
60ADA
75ADA
SGMAH-
–
08A
–
–
–
–
–
–
–
SGMPH-
–
08A
–
15A
–
–
–
–
–
44A = A
55A = A
75A = A
–
SGMGH-
(1500min–1)
05A = A
–
09A = A
13A = A
20A = A
30A = A
SGMGH-
(1000min–1)
03A = B
06A = B
09A = B
12A = B
20A = B
30A = B
40A = B
55A = B
SGMSH-
–
–
10A
15A
20A
30A
40A 50A
–
–
SGMDH-
–
–
–
–
–
22A
32A 40A
–
–
kW
0.5
0.75
1.0
1.5
2.0
3.0
5.0
6.0
7.5
A rms
3.8
5.7
7.6
11.6
18.5
24.8
32.9
46.9
54.7
Max. Output Current
A rms
11.0
13.9
17
28
42
56
84
110
130
Max.Applicable Motor Capacity
Input Power
Supply
Main Circuit
Three-phase 200 to 230V 10 to 15% (50/60Hz)
Control Circuit
Single-phase 200 to 230V 10 to 15% (50/60Hz)
Control Method
Three-phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback
Serial encoder (incremental/absolute value)
Base mounted (Rack mount is also available)
Configuration
Approx. Mass
* : Duct ventilation is also available.
16
kg
1.7
2.8
Base mounted*
3.8
5.5
15
Specifications
SGDM SERVOPACK
Specifications
Operating Conditions
Performance
Operating/storage Temperature
0 to 55°C / -20 to +85°C
Operating/storage Humidity
90% RH or less (non-condensing)
Altitude
1000m or less
Vibration/shock Resistance
4.9m/s2 / 19.6m/s2
Speed Control Range
1:5000 (The lower limit is within the range not to stop at the rated torque load.)
Speed
Variance
Load Variance
During 0 to 100% load: ±0.01% max. (at rated speed)
Voltage Variance
Rated voltage ±10%: 0% (at rated speed)
Temperature Variance
25 ±25°C: ±0.1% max. (at rated speed)
Frequency Characteristics
400Hz (at JL = JM)
Torque Control Accuracy (Reproducibility)
±2%
Performance
Input Signal
Soft Start Time Setting
Input Signal
Position Control Mode
Speed/Torque Control Mode
:Common for All
Speed
Reference
Input
Torque
Reference
Input
Reference Voltage
Input Impedance
Approx. 14kΩ
Circuit Time Constant
–
Reference Voltage
±3VDC (forward rotation torque if positive reference) at rated speed: set at delivery
Variable setting range: ±1 to ±10VDC at rated torque reference
Input Impedance
Approx. 14kΩ
Circuit Time Constant
Approx. 47µs
Bias Setting
0 to 450 min–1. (setting resolution: 1 min–1)
Feed Forward Compensation
0 to 100% (setting resolution: 1%)
Position Completed Width Setting
Command
Pulse
I/O Signal
0 to 250 command units (Setting resolution: 1 command unit)
Input Pulse Type
Sign pulse train, 90° phase displacement 2-phase pulse (A-phase B-phase), or
CCW/CW pulse train
Input Pulse Form
Line driver (5V level), open collector (5V or 12 level)
Input Pulse Frequency
0 to 500kpps (200kpps max. at open collector)
Clear signal (input pulse is same as reference pulse)
Control Signal
Position Signal Output
A-phase, B-phase, C-phase, (S-phase): Line driver output S-phase is for absolute encoder only.
Sequence Input Signal
Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run
prohibit, alarm reset, forward/ reverse current limit (or internal speed switching)
Servo alarm, alarm codes ( 3-bit output): CN1 output terminal is fixed.
Sequence Output Signal
Communications
It is possible to output three types of signals from among: positioning complete (speed agree), motor
rotation, servo ready, current limit, speed limit, brake release, warning, NEAR, and zero point pulse signal
Interface
Digital operator (hand-held type), RS-422A port for PCs, etc. (RS-232C ports under some conditions)
1:N Communications
N may equal up to 14 when an RS-422A port is used.
Axis Address Setting
Set by user setting.
Functions
Status display, user constant setting, monitor display, alarm traceback display, JOG run / autotuning operations,
and graphing functions for speed/torque reference signal, etc.
Auto Tuning Function
Integrated Functions
0 to 10s (Acceleration, deceleration can each be set.)
±6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery
Variable setting range: ±2 to ±10VDC at rated speed / max. input voltage: ±12V
Position/speed loop gain and integral time constant can be automatically set.
Dynamic Brake (DB)
Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative Processing
Regenerative resistor externally mounted (option)
Overtravel (OT) Prevention Function
DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder Divider Function
Optional division possible
Electronic Gearing
0.01<A/B<100
Internal Speed Setting Function
3 speeds may be set internally
Protective Functions
Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power phase
loss, overflow, overspeed, encoder error, runaway,CPU error, parameter error, etc.
Analog Monitor Functions for Supervision
Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc.
Display Functions
CHARGE, POWER, 7-segment LED5 (Integrated digital operator function)
Others
Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal
for high frequency power suppression function (except: 6kW and 7kW)
17
Connection Diagrams
Single-phase
4
1
1
3
2
2
18
*12
*3
*4
*
The time constant for the primary filter is 47 µs.
Connect when using an absolute encoder.
Used only with an absolute encoder.
Regenerative resistor can be connected between B1 and B2.
Connection
Diagrams
Three-phase
L1
L2
L3
4
1
1
3
2
2
*12
*3
*4
*
The time constant for the primary filter is 47 µs.
Connect when using an absolute encoder.
Used only with an absolute encoder.
For using an external regenerative resistor, connect it between B1 and B2.
19
Servomotor Dimensions in mm
: SGMAH Series
φ LF
LC
LC
2-LZ DIA.
MOUNTING
HOLES
LA
LD
SGMAH-A3,-A5,-01
Type
SGMAH
- A3 =
- A5 =
- 01 =
- 02 =
- 04 A
- 08 A
LL
LC
69.5
77 40
94.5
96.5
60
124.5
145 80
LA
LZ
LG
LB
LE
46
4.3
5
0
30 -0.021
2.5
3
3
70
5.5
6
0
50 -0.025
90
7
8
0
70 -0.03
LL
LC
LA
LD
−
LF
−
S
6
0
-0.008
8
0
-0.009
LR
25
0
14 -0.011
30
35
0
20 16 -0.011
40
Approx.
Mass
kg
0.3
0.4
0.5
1.1
1.7
3.4
: SGMPH Series
Type
SGMPH
- 01 =
- 02 =
- 04 A
- 08 A
- 15 A
LZ
62 60 70 5.5
67
7
80 90
87
86.5
120 145 10
114.5
LG
LB
LE
6
0
50 -0.025
3
8
0
70 -0.03
0
10 110 -0.035
3
S
LR
0
-0.009
25
0
14 -0.011
30
8
0
16 -0.011
3.5
40
0
19 -0.013
Approx.
Mass
kg
0.7
1.4
2.1
4.2
6.6
: SGMGH Series
SHAFT EXTENSION A
are not mounted on SGMGH
* : Eyebolts
-05 A =A to 44A=A.
D
Type
SGMGH
05 A = A
- 03 A = B
09 A = A
- 06 A = B
13 A = A
- 09 A = B
20 A = A
- 12 A = B
30 A = A
- 20 A = B
44 A = A
- 30 A = B
- 55 A = A
- 40 A = B
- 75 A = A
- 55 A = B
20
L
LL LM LR
LA
LB
Flange
Shaft Extension
S
Q
LC LE LG LH LZ Dwg.
196 138 92
0
219 161 115 58 145 110 -0.035
130
243 185 139
6
12 165
9
A
0
19 -0.013
5.5
40
0
22 -0.013
14
271 192 145 79
0
200 114.3 -0.025
180 3.2 18 230 13.5 B
305 226 179
447 334 287
7.6
9.6
245 166 119
373 260 213
Approx.
Mass
kg
113
35 +0.01
0
76
18
23
30
0
42 -0.016
110
40
SHAFT EXTENSION B
Dimensions
Servomotor
: SGMSH Series
Flange
Shaft Extension Approx.
Mass
LC LE LG LZ
S
Q
kg
Type
SGMSH
LL LR
- 10 A = A
149
- 15 A = A
- 20 A = A
0
175 45 115 95 -0.035
100
198
- 30 A = A
199
- 40 A = A
0
236 63 145 110-0.035
130
276
- 50 A = A
LA
LB
4.6
3
10
7
0
24 -0.013
40
5.8
7.0
11
6
12
9
0
28 -0.013
55
14
17
: SGMDH Series
Type
SGMDH
LL LR
- 22 A = A 187
- 32 A = A 199
55
- 40 A = A 209 65
LA
LB
Shaft Extension Approx.
Flange
Mass
LC LE LG LH LZ
S
Q
kg
0
235 200 -0.046
220
4
18 270 13.5
0
50
28 -0.013
15.5
0
60
32 -0.016
21
18.5
21
SERVOPACK Dimensions in mm
: SGDM
-A3ADA to -02ADA
-A3BDA to -01BDA
: SGDM -04ADA, -02BDA
Approx. mass: 0.8kg
: SGDM -05ADA, 08ADA, 10ADA
Approx. mass: 1.1kg
: SGDM -15ADA
Approx. mass: 1.7kg
: SGDM -20ADA, 30ADA
22
Approx. mass: 2.8kg
: SGDM -50ADA
Approx. mass: 3.8kg
Approx. mass: 5kg
Dimensions
SERVOPACK
: SGDM -60ADA, -75ADA
Approx. mass: 15kg
Digital Operator (Type JUSP-OP02A-2)
Approx. mass: 0.2kg
23
Function Description
Model follow-up control
New
A mechanical system is modeled to compensate
for system delay and suppress vibrations when
a machine has a low characteristic frequency.
This function reduces the settling time of rigid
machinery.
Vibration suppression control
The observer reduces the vibration, and high
servo gain drive is achieved when a machine
drive system is subject to vibrations. This function
enhances the servo characteristics.
Mechanical resonance suppression filter
Resonance is suppressed by setting the vibration
suppression filter in accordance with mechanical
system resonance frequency when a high
frequency resonance noise is made by the
machine.
New
New
New
For High Performance
Torque reference filter
In the event that shaft resonance causes vibration
in the servo system, the torque reference filter
automatically suppresses resonance.
Speed observer control
Mode switch
Use of the speed observer provides smooth
motion even at low speeds, and shorter position
settling time.
Shorter
positioning time
Speed
Speed (min–1)
Series
To improve transient characteristics during motor
acceleration and deceleration, the system can
be switched between speed loop PI (proportional
integral) and P (proportional) control, helping
to prevent overshoot and undershoot.
With mode switch
Time (t)
Feed forward compensation
Feed forward compensation provides reduced
positioning time.
New
New
Without mode switch
Bias
Can be optimized with load conditions to shorten
positioning time.
Bias
Feed forward compensation
Motor
Speed
Command
Time (t)
New
Shorter positioning time
Zero clamp operation
When speed control is used, drift may occur
even with a speed command of 0V. The zero
clamp function uses a position loop to stop
servo-lock below a preset speed command.
24
Time
Functions
Online auto-tuning
Simple set-up: Just plug-and-play.
Enhanced inertia matching precision eliminates
the need for servo gain adjustment.
New
New
For Easy Setup / Maintenance
Automatic motor discrimination function
The use of the serial encoder makes it possible
for the servopack to automatically sense motor
capacity and type, and set motor parameters
accordingly.
Online
auto-tuning
Alarm
SGMAH
y
displa
Not
match
SGMSH
Cumulative load factor monitor
Allows monitoring of effective torque for torque
command.
New
New
Load inertia
Allows monitoring of regenerative load ratio.
Regenerative load ratio monitor
It is possible to issue a warning before a regenerative
overload alarm is triggered.
PC interface standard
Supports monitor waveform display for speed
and torque references, easy user constant
specification, and 1:n communication (n<14).
New
New
Cumulative load factor monitor
Regenerative overload warning
Regenerative load ratio monitor
Password
Prevents unauthorized alteration of user constants.
Jog operation
The motor can be controlled through the digital
operator, even without inputting speed commands.
Handy for trial operation.
RS-232C/
RS-422
Digital operator
Personal computer
Easy trial operation
Alarm traceback
Even if the power is turned OFF, data for the last
ten alarms is stored, simplifying troubleshooting.
25
I/O signal mapping function
Functional allocation of I/O signals is more
flexible than ever. Select three types from
nine signals.
New
New
For Flexible Adjustment
Origin search
The encoder moves to the origin pulse position
and then stops: handy for positioning motor
shaft and machine.
Host
controller
Origin
All-in-one control
Current (torque) limit
Position, torque and speed can be controlled
independently, with simple switching between
control modes.
The peak current input to the motor can be
limited to minimize occurrence of overtorque,
and reduce machinery damage.
Overtorque
Position
control
Speed
control
Torque
control
Overcurrent
Load
Current limit
Motor
Load
Motor
SERVOPACK
Absolute encoder support
Can also be used with an absolute encoder,
in which case return-to-origin operation is unnecessary, and operation is possible immediately
after power is restored in the event of a power
loss.
Encoder divider
The encoder pulse can be set to any divider,
and the positioning resolution for the host controller can be set freely.
Encoder
Continuous detection
of absolute position
Servomotor
Absolute encoder
Reverse mode
Motor normal and reverse rotation directions
can be defined through a simple user constant,
without having to rewire motor or encoder.
Standard mode Reverse mode
CCW
26
Divider
circuit
Forward command
CCW
CW
Reverse command
CW
CCW
CW
Phase A
Phase B
Phase C
Functions
Brake interlock
Overtravel prevention
Brake ON/OFF signals can be output for motors
equipped with brakes. Because the motor conductance state and rotation speed can be interlocked, brake hold is assured.
Motor drive can be stopped when the machinery
exceeds its defined motion range.
Reverse rotation
Forward rotation
STOP!
Load
Assured prevention
of dropping
Regenerative processing
The electric power regenerated during motor deceleration is absorbed by the SERVOPACK regenerative
circuit. If load inertia is great, depending on the
specific operating conditions, external regenerative
resistance with a larger capacity may be required.
STOP!
Limit switch
Positioning complete signal
Detects when the remaining pulses from the offset
counter are within the positioning complete
range specified as a user constant.
Positining
completed
Regenerated energy
Regenerative
circuit
Dynamic brake
In the event there is a power loss during machine
operation, the dynamic brake absorbs generated
motor energy in motor resistance and external
resistance, resulting in a rapid stop which minimizes
damage and accidents.
Host
controller
Selection of internal speed presets
The motor can be operated at any of the three
preset user speeds.
SPEED1
SPEED2
SPEED3
Contact input
SERVOPACK
Command pulses
Supports all types of command pulses:
Sign+pulse train, 90° phase displacement,
2-phase pulse, CCW/CW pulse train
Soft start
Used to set the motor acceleration and deceleration times.
27
Function Setup and Alarms
User Constants
Type
Function
Selection
Constants
GainRelated
Constants
PositionRelated
Constants
SpeedRelated
Constants
TorqueRelated
Constants
SequenceRelated
Constants
28
Parameter
No.
Pn000
Pn001
Pn002
Pn003
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn10A
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn200
Pn201
Pn202
Pn203
Pn204
Pn205
Pn300
Pn301
Pn302
Pn303
Pn304
Pn305
Pn306
Pn307
Pn308
Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Pn500
Pn501
Pn502
Pn503
Name
Unit
—
Function Selection Basic Switch*3
—
Function Selection Application Switch 1*1*3
—
Function Selection Application Switch 2*3
—
Function Selection Application Switch 3
Hz
Speed Loop Gain
0.01ms
Speed Loop Integral Time Constant
1/s
Position Loop Gain
%
Inertia Ratio
Hz
2nd Speed Loop Gain
0.01ms
2nd Speed Loop Integral Time Constant
1/s
2nd Position Loop Gain
min–1
Bias
Command Unit
Bias Addition Band
%
Feed Forward
0.01ms
Feed Forward Filter Time Constant
—
Gain-Related Aplication Switch*3
%
Mode Switch (Torque Command)
min–1
Mode Switch (Speed Command)
10min–1/s
Mode Switch (Acceleration)
Command Unit
Mode Switch (Offset Pulse)
—
Online Autotuning-Related Switch*3
—
Reserved Constant (Do not handle)*2
—
Reserved Constant (Do not handle)
—
—
—
—
—
—
—
Position Control Command Form Selection Switch*3
P/r
PG Divider*3*5
Electronic Gear Ratio (Numerator)*3
—
Electronic Gear Ratio (Denominator)*3
—
Position Command Accel/Decel Time Constant
0.01ms
Multi-Turn Limit Setting*1*3
rev
0.01V/Rated Speed
Speed Command Input Gain
min–1
Internal Setting Speed 1
min–1
min–1
min–1
JOG Speed
ms
Soft Start Acceleration Time
ms
Soft Start Deceleration Time
0.01ms
Speed Command Filter Time Constant
0.01ms
Speed F/B Filter Time Constant
0.1V/Rated Torque
Torque Command Input Gain
0.01ms
Torque Command Filter Time Constant
%
Forward Torque Limit
%
Reverse Torque Limit
%
External Input Forward Torque Limit
%
External Input Reverse Torque Limit
%
Emergency Stopping Torque
min–1
Speed Limit During Torque Control
Command Unit
Positioning Completion Band
min–1
Zero-Clamp Level
min–1
Rotation Detection Level
min–1
Speed Conformance Signal Detection Band
Lower
Limit
—
—
—
—
1
15
1
0
1
15
1
0
0
0
0
—
0
0
0
0
—
1
0
0
0
0
0
20
50
—
16
1
1
0
0
150
0
0
0
0
0
0
0
0
10
0
0
0
0
0
0
0
0
0
1
0
Upper
Limit
—
—
—
—
2000
51200
2000
10000
2000
51200
2000
450
250
100
6400
—
800
10000
3000
10000
—
100
1000
10000
400
1000
1000
100
100
—
16384
65535
65535
6400
65535
3000
10000
10000
10000
10000
10000
10000
65535
65535
100
65535
800
800
800
800
800
10000
250
10000
10000
100
Factory
Setting
0000
0000
0000
0002
40
2000
40
0
40
2000
40
0
7
0
0
0000
200
0
0
0
0010
100
100
1000
200
32
16
100
100
0000
16384
4
1
0
65535
600
100
200
300
500
0
0
40
0
30
100
800
800
100
100
800
10000
7
10
20
10
Functions
Type
Sequence
-Related
Constants
Other
Constants
Parameter
No.
Pn504
Pn505
Pn506
Pn507
Pn508
Pn509
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn600
Pn601
Name
Unit
NEAR Signal Band
Overflow Level
Bake Command-Servo OFF Delay Time
Brake Command Output Speed Level
Servo OFF-Brake Command Waiting Time
Momentary Hold Time
Input Signal Selection 1*3
Output Signal Selection 1*3
Regenerative Resistor Capacity*4
Reserved Constant (Do not use)
Command Unit
256 Command Unit
10ms
min–1
10ms
ms
—
—
—
—
—
—
—
10W
—
multi-turn limit is enabled only when Pn002.2, the absolute encoder usage method, is set to [2].
*1. The
within -32768 to +32767.
Lower
Limit
1
1
0
0
10
20
—
—
—
—
—
—
—
Upper
Limit
250
32767
50
10000
100
1000
—
—
—
—
—
—
—
0*4
0
10000*6
10000*6
Factory
Setting
7
1024
0
100
50
20
2100
6543
8888
8888
3211
0000
0000
0*4
0
When set to anything else, numerous rotation data is processed
Change in the multi-turn limit is necessary only in special applications. Do not arbitrarily change this data.
Enabled when the speed observer user constant Pn110.1 is [0].
*2.
this user constant has been changed, it is necessary to shut the main and control power OFF, and then to turn them ON again (Power re-feed operation)
*3. When
in order to enable this function.
The normal setting is [0]. The capacity (W) of the regenerative resistor is set when an external regenerative resistor is used.
*4.
When encorder dividing ratio is 13-bit encoder (2048 P/R), encoder does not devide at more than 2048 setting.
*5.
*6. The upper limit is the maximum output capacity of applicable SERVOPACK.
Alarm Display
Monitor Panel Display
802
.
803
.
804
.
805
.
810
.
830
.
832
.
840
.
841
.
851
.
871
.
872
.
873
.
874
.
878
.
881
.
882
.
883
.
884
.
885
.
886
.
8B1
.
8B2
.
8C1
.
8C8
.
8C9
.
8C8
.
8CB
.
8D0
.
8F1
.
Alarm Code Output
AL01
AL02
AL03
Alarm Content
SERVOPACK EEPROM data error (Parameter damage)
Main circuit detection error
H
H
H
L
H
H
L
L
H
H
H
L
L
H
L
Parameter setting error
Motor, SERVOPACK capacity mismatch
Overcurrent or heatsink overheat
Regenerative error (resistor cut off, transistor short failure)
Regenerative overload
Overvoltage
Insufficient voltage
Overspeed
Overload (Momentary maximum load)
Overload (Continuous maximum load)
L
L
L
DB Overload
Surge resistor overload
Heatsink overheat (Displayed when 30W to 1000W)
Encoder backup alarm
Encoder SUM check alarm
Encoder battery alarm
H
H
H
Encoder absolute alarm
Encoder overspeed
Encoder overheat
Speed reference A/D error
Torque reference A/D error
Runaway
L
L
H
H
L
L
L
Encoder clear error, Multi-turn limit setting error
Encorder communication error
H
H
Encoder parameter error
Encoder echoback error
Excessive position offset
Power line lost phase
L: Low Signal, H: High Signal
29
Options
Regenerative Resistor
Externally mount the regenerative resistor for more than 5.5kW SERVOPACK (SGDM-60 or Later).
Choose a regenerative resistor in accordance with SERVOPACK type.
: Dimensions in mm
Regenerative
Resistor Unit Type
W
H
D
M1
M2
Approx.
Mass
kg
SGDM-60ADA
JUSP-RA04
220
350
92
180
335
4
SGDM-75ADA
JUSP-RA05
300
350
95
250
335
7
SERVOPACK Type
Dimensions in mm
Brake Power Supply
: Specifications
Type
LPSE-2H01
LPDE-1H01
Rated
Lead Connection (Color)
Input Power Supply Output Power Supply Input Side Output Side
200VAC
(180 to 230VAC)
50/60Hz
100VAC
(90 to 120VAC)
50/60Hz
: Dimensions in mm
Yellow,
White
90VDC
Blue,
White
Red ()
Black ()
Note:
1. Insulation Resistance: 100MΩ or more at 500V Megger.
2. Withstand Voltage : 1500VAC for a minute or 1800VAC
for a second.
3. Operating Voltage
: 90VDC Max. 1ADC.
4. Ambient Temperature: Max. 60°C
: Circuit Diagram
Type LPSE-2H01
30
Full Lineup of ∑ / ∑-2 Series
YASKAWA provides full line up of servo drives according
to functions / capacity you require. Contact your
YASKAWA representative for ordering other series.
Expansive
∑-2
∑-2
SGMAH/SGMPH
SGDH
SGMGH/SGMSH/SGMUH
SGDH
FUNCTION
[S800-32]
∑-2
∑-2
SGMAH/SGMPH
SGDM
SGMGH/SGMSH/SGMDH
SGDM
∑-2Enhanced
Basic ∑ Performance
[S800-31]
Standard
∑-mini
∑
∑
∑
SGMM
SGDA
SGM/SGMP
SGDA/DR2
SGMG/SGMS/SGMD
SGDB
SGMB
SGDB
[S800-19]
Limited
0
[S800-18]
∑-mini
∑-L
SGMM
SGDF
[S800-27]
SGML
SGDL
0.01
Minimum
0.03
0.1
0.75 1
Small
[S800-16.1]
3
Medium
7.5 10
15
30
55
Large
CAPACITY (kW)
Series Name
Servomotor Type
SERVOPACK Type
Reference Catalog No.
KAE: To be available soon.
31
SERIES
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
LITERATURE NO. KAE-S800-31C
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Published in Japan August 2008 98-2 8 -0
Specifications are subject to change without notice
08-5-11
for ongoing product modifications and improvements.
Printed on 100% recycled paper
with soybean oil ink.
© 1998-2008 YASKAWA ELECTRIC CORPORATION. All rights reserved.

AC SERVO DRIVES Sigma

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